Title :
Design and Control of a Quad-Rotor Flying Robot For Aerial Surveillance
Author :
Weng, Kong Wai ; Abidin, Mohamad Shukri b Zainal
Author_Institution :
Center for Artificial Intell. & Robotic, Univ. Teknol. Malaysia, Kuala Lumpur
Abstract :
This paper presents the control of a quad-rotor VTOL (vertical take off and landing) flying robot as an experimental flying platform. The flying robot is to be controlled by a pilot using radio frequency. A wireless CCTV camera is installed on the robot to perform aerial surveillance and inspection operation. Due to the naturally unstable behavior of the flying robot, PID control system is implemented with the aid of accelerometer, compass sensor and gyro sensors to stabilize the flying robot and make it easier to be controlled by the operator. The fusion between the accelerometer, compass sensor and also the gyro sensors is done by the complementary filter.
Keywords :
aerospace robotics; closed circuit television; control system synthesis; inspection; surveillance; telerobotics; three-term control; PID control system; accelerometer; aerial surveillance; compass sensor; gyro sensors; inspection; quad-rotor flying robot; radio frequency; vertical take off and landing; wireless CCTV camera; Accelerometers; Control systems; Radio control; Radio frequency; Robot sensing systems; Robot vision systems; Sensor fusion; Sensor systems; Surveillance; Wireless sensor networks;
Conference_Titel :
Research and Development, 2006. SCOReD 2006. 4th Student Conference on
Conference_Location :
Selangor
Print_ISBN :
978-1-4244-0526-8
Electronic_ISBN :
978-1-4244-0527-5
DOI :
10.1109/SCORED.2006.4339333
